Research Of Acoustic Detect Emulational System Software On Underwater Robot Under VxWorks

Acoustic detect system is an essential part of underwater robot, and it takes charge of guiding underwater robot to sail and avoiding the obstacle through detecting and distinguishing target under water. In order to meet requirement of underwater robot's in equipment size and real timeliness, the hardware platform is designed to use PC/104 and embedded operating system VxWorks. In this paper, the main task is to design an acoustic detect system software of underwater robot, and test the stability and reliability of the system.Firstly, this paper analyses the features of VxWorks operating system, details the migration process of VxWorks operating system according to the specific hardware platform of PC/104 , and make USB a system boot disk.Subsequently, studies the driver program design of data collecting module and data processing module under VxWorks based on the PCI bus , realizes control of these two modules in the acoustic detection system, and gives a general PCI device driver program design and implementation process.Later, studies the application program design of the acoustic detection system and the main controller, and implement the transmission of control information between them, which includes the multi-task design and communication of the acoustic detection system, the socket network programming used in receiving the commands of the main controller and transmission processing results, as well as the software design of the main controller sending control commands to the acoustic detection system through the network circularly.Finally, tests the acoustic detection system, and verified the stability and reliability of this system.